No-touch surgical navigation method and system thereof

ABSTRACT

A no-touch surgical navigation method for guiding a surgical instrument corresponding to a part of a patient&#39;s anatomy is provided. An image registration step is for matching the preoperative implant device planning image and the part of the patient&#39;s anatomy via a spatial coordinate transformation relationship. An instrument checking step is for identifying the surgical instrument, and then calibrating a size of the surgical instrument to display an instrument tip mark on the displaying device. An implant device placement selecting step is for moving the surgical instrument by a user, and then the instrument tip mark is synchronously moved with the surgical instrument to select a virtual surgical instrument pattern. A skin incision and trajectory guiding step is for moving the surgical instrument according to a skin incision and trajectory guiding picture so as to move the instrument tip mark close to a planned surgical position.

RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application Ser.No. 62/421,995 filed Nov. 14, 2016, and China application No.201710630485.6 filed on Jul. 28, 2017, the disclosures of which areincorporated herein by reference in their entireties.

BACKGROUND

Technical Field

The present disclosure relates to a surgical navigation method and asurgical navigation system thereof. More particularly, the presentdisclosure relates to a no-touch surgical navigation method and ano-touch surgical navigation system thereof.

Description of Related Art

Surgical navigation systems, also known as computer assisted surgery andimage guided surgery, aid surgeons (i.e., physicians) in locatingpatient anatomical structures, guiding surgical instruments (such as abone screw), and implanting medical devices with a high degree ofaccuracy. A conventional surgical navigation system typically includes aprocessing unit, a tracking device, and patient anatomical information.The patient anatomical information can be obtained by using a 2D/3Dimaging mode such a fluoroscopy, computer tomography (CT), a C-arm X-raymachine or by simply defining the location of patient anatomy with thesurgical navigation system. Surgical navigation systems can be used fora wide variety of surgeries to improve patient outcomes.

Conventional surgical navigation systems generally include a touchscreen for selecting information and controlling surgical operations viaan operator action. In one surgical procedure, the physician needs toalternatively operate surgical instruments and the conventional surgicalnavigation system. In another surgical procedure, the physician and theoperator operate surgical instruments and the conventional surgicalnavigation system, respectively. No matter what procedure is employed,the conventional surgical navigation system requires an additional humansupport to control redundant touch and increases surgical proceduralcomplexity, thereby increasing failure risk caused by a human error. Inparticular, when the surgical instrument is replaced, the accuracy,reliability and safety of the system will be significantly decreased.Therefore, a surgical navigation system and a surgical navigation methodhaving the features of no redundant touch, high safety, high accuracy,high precision and convenient operation are commercially desirable. Ano-touch surgical navigation system and a no-touch surgical navigationmethod of the present disclosure are proposed to overcome theconventional problems.

SUMMARY

According to one aspect of the present disclosure, a no-touch surgicalnavigation method for guiding a surgical instrument corresponding to apart of a patient's anatomy provides a preoperative implant deviceplanning step, an image registration step, an instrument checking step,an implant device placement selecting step and a skin incision andtrajectory guiding step. The preoperative implant device planning stepis for acquiring at least one preoperative implant device planning imageand visualizing the preoperative implant device planning image on adisplaying device. The image registration step is for establishing aspatial coordinate transformation relationship between the part of thepatient's anatomy and the preoperative implant device planning image,and matching the preoperative implant device planning image and the partof the patient's anatomy via the spatial coordinate transformationrelationship. The instrument checking step is for identifying thesurgical instrument, and then calibrating a size of the surgicalinstrument to display an instrument tip mark of the surgical instrumenton the displaying device. The implant device placement selecting step isfor moving the surgical instrument by a user, and the instrument tipmark is synchronously moved with the surgical instrument to select avirtual surgical instrument pattern in the preoperative implant deviceplanning image, and then a skin incision and trajectory guiding pictureis shown on the displaying device. The skin incision and trajectoryguiding step is for moving the surgical instrument by the user accordingto the skin incision and trajectory guiding picture so as to move theinstrument tip mark close to a planned surgical position, and theplanned surgical position is displayed in the skin incision andtrajectory guiding picture.

According to another aspect of the present disclosure, a no-touchsurgical navigation method for guiding a plurality of surgicalinstruments corresponding to a part of the patient's anatomy provides apreoperative implant device planning step, an image registration step, afirst instrument checking step, an implant device placement selectingstep, a skin incision and trajectory guiding step, an instrumentreplacing step, a second instrument checking step and a surgicalinstrument trajectory guiding step. The surgical instruments include afirst surgical instrument and a second surgical instrument. Thepreoperative implant device planning step is for acquiring at least onepreoperative implant device planning image and visualizing thepreoperative implant device planning image on a displaying device. Theimage registration step is for establishing a spatial coordinatetransformation relationship between the part of the patient's anatomyand the preoperative implant device planning image, and matching thepreoperative implant device planning image and the part of the patient'sanatomy via the spatial coordinate transformation relationship. Thefirst instrument checking step is for identifying the first surgicalinstrument, and then calibrating a size of the first surgical instrumentto display a first instrument tip mark of the first surgical instrumenton the displaying device. The implant device placement selecting step isfor moving the first surgical instrument by a user, and the firstinstrument tip mark is synchronously moved with the first surgicalinstrument to select a virtual second surgical instrument pattern in thepreoperative implant device planning image. Then, a skin incision andtrajectory guiding picture is shown on the displaying device. The skinincision and trajectory guiding step is for moving the first surgicalinstrument by the user according to the skin incision and trajectoryguiding picture so as to move the first instrument tip mark close to aplanned surgical position. The planned surgical position is displayed inthe skin incision and trajectory guiding picture. When the firstinstrument tip mark is aligned with the planned surgical position, theskin incision and trajectory guiding picture is changed to a surgicalinstrument guiding picture on the displaying device. The instrumentreplacing step is for replacing the first surgical instrument with thesecond surgical instrument by the user. The second instrument checkingstep is for identifying the second surgical instrument, and thencalibrating a size of the second surgical instrument to display a secondinstrument tip mark of the second surgical instrument on the displayingdevice. The surgical instrument trajectory guiding step is for movingthe second surgical instrument close to the planned surgical positionaccording to the surgical instrument guiding picture.

According to further another aspect of the present disclosure, ano-touch surgical navigation system using the no-touch surgicalnavigation method includes a surgical instrument, a displaying device,an optical tracker and a processing unit. The surgical instrument movedby the user and connected to an instrument optical sensing device. Thedisplaying device includes a screen which displays a preoperativeimplant device planning image, a skin incision and trajectory guidingpicture or a surgical instrument guiding picture. The optical tracker isconfigured to sense the instrument optical sensing device. Theinstrument optical sensing device is oriented towards the opticaltracker so as to identify the surgical instrument by the optical trackerand obtain a surgical instrument datum corresponding to the surgicalinstrument. The processing unit is signally connected to the displayingdevice and the optical tracker. The processing unit includes apreoperative implant device planning module, an image registrationmodule, an instrument checking module, an implant device placementselecting module and a trajectory guiding module. The preoperativeimplant device planning module is configured to acquire the preoperativeimplant device planning image and visualize the preoperative implantdevice planning image on the screen. The image registration module issignally connected to the preoperative implant device planning module.The image registration module is configured to establish the spatialcoordinate transformation relationship between the part of the patient'sanatomy and the preoperative implant device planning image, and matchthe preoperative implant device planning image and the part of thepatient's anatomy via the spatial coordinate transformationrelationship. The instrument checking module is signally connected tothe image registration module and the screen. The instrument checkingmodule is configured to receive the surgical instrument datum andidentify a position of the surgical instrument on the screen, and thencalibrate the size of the surgical instrument to display the instrumenttip mark of the surgical instrument on the screen. The implant deviceplacement selecting module is signally connected to the instrumentchecking module and the image registration module. The implant deviceplacement selecting module is configured to select a virtual surgicalinstrument pattern in the preoperative implant device planning image bymoving the instrument tip mark of the surgical instrument so as todisplay the skin incision and trajectory guiding picture on the screen.The trajectory guiding module is signally connected to the instrumentchecking module and the implant device placement selecting module. Thetrajectory guiding module is configured to move the instrument tip markclose to a planned surgical position by moving the surgical instrumentaccording to the skin incision and trajectory guiding picture on thescreen.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure can be more fully understood by reading thefollowing detailed description of the embodiment, with reference made tothe accompanying drawings as follows:

FIG. 1 shows a flow chart of a no-touch surgical navigation method forguiding a surgical instrument corresponding to a part of a patient'sanatomy according to a first embodiment of the present disclosure;

FIG. 2A shows a schematic view of a no-touch surgical navigation systemfor guiding the surgical instrument corresponding to the part of thepatient's anatomy according to the first embodiment of the presentdisclosure;

FIG. 2B shows a schematic view of the surgical instrument cooperatedwith a calibrating device according to the first embodiment of thepresent disclosure;

FIG. 2C shows a block diagram of the no-touch surgical navigation systemaccording to the first embodiment of the present disclosure;

FIG. 3A shows a schematic view of a preoperative implant device planningimage on a displaying device according to the first embodiment of thepresent disclosure;

FIG. 3B shows a schematic view of a skin incision and trajectory guidingpicture on the displaying device according to the first embodiment ofthe present disclosure;

FIG. 3C shows a schematic view of a surgical instrument guiding pictureon the displaying device according to the first embodiment of thepresent disclosure;

FIG. 4 shows a flow chart of a no-touch surgical navigation method forguiding a plurality of surgical instruments corresponding to a part of apatient's anatomy according to a second embodiment of the presentdisclosure;

FIG. 5A shows a schematic view of a no-touch surgical navigation systemfor guiding the surgical instruments corresponding to the part of thepatient's anatomy according to the second embodiment of the presentdisclosure;

FIG. 5B shows a schematic view of a first surgical instrument cooperatedwith a calibrating device according to the second embodiment of thepresent disclosure;

FIG. 5C shows a schematic view of a second surgical instrumentcooperated with the calibrating device according to the secondembodiment of the present disclosure;

FIG. 5D shows a block diagram of the no-touch surgical navigation systemaccording to the second embodiment of the present disclosure;

FIG. 6A shows a schematic view of a preoperative implant device planningimage on a displaying device according to the second embodiment of thepresent disclosure;

FIG. 6B shows a schematic view of a skin incision and trajectory guidingpicture on the displaying device according to the second embodiment ofthe present disclosure;

FIG. 6C shows a schematic view of a surgical instrument guiding pictureon the displaying device for guiding the first surgical instrumentaccording to the second embodiment of the present disclosure;

FIG. 6D shows a schematic view of the surgical instrument guidingpicture on the displaying device for checking the second surgicalinstrument according to the second embodiment of the present disclosure;and

FIG. 6E shows a schematic view of the surgical instrument guidingpicture on the displaying device for guiding the second surgicalinstrument according to the second embodiment of the present disclosure.

DETAILED DESCRIPTION

FIG. 1 shows a flow chart of a no-touch surgical navigation method 100for guiding a surgical instrument 210 corresponding to a part of apatient's anatomy 110 according to a first embodiment of the presentdisclosure; FIG. 2A shows a schematic view of a no-touch surgicalnavigation system 102 for guiding the surgical instrument 210corresponding to the part of the patient's anatomy 110 according to thefirst embodiment of the present disclosure; FIG. 2B shows a schematicview of the surgical instrument 210 cooperated with a calibrating device500 according to the first embodiment of the present disclosure; FIG. 2Cshows a block diagram of the no-touch surgical navigation system 102according to the first embodiment of the present disclosure; FIG. 3Ashows a schematic view of a preoperative implant device planning image310 on a displaying device 300 according to the first embodiment of thepresent disclosure; FIG. 3B shows a schematic view of a skin incisionand trajectory guiding picture 330 on the displaying device 300according to the first embodiment of the present disclosure; and FIG. 3Cshows a schematic view of a surgical instrument guiding picture 340 onthe displaying device 300 according to the first embodiment of thepresent disclosure. The no-touch surgical navigation method 100 isutilized for guiding the surgical instrument 210 corresponding to thepart of the patient's anatomy 110. The surgical instrument 210 may be aguiding probe or a bone screw, and the part of the patient's anatomy 110may be a vertebral body. The no-touch surgical navigation method 100provides a preoperative implant device planning step S11, an imageregistration step S12, an instrument checking step S13, an implantdevice placement selecting step S14, a skin incision and trajectoryguiding step S15 and a surgical instrument trajectory guiding step S16.

The preoperative implant device planning step S11 is for acquiring atleast one preoperative implant device planning image 310 and visualizingthe preoperative implant device planning image 310 on the displayingdevice 300, as shown in FIG. 3A. In detail, the preoperative implantdevice planning image 310 includes a preoperative patient anatomicalimage 312 and a virtual surgical instrument pattern 320. In the case ofspinal surgery, the preoperative patient anatomical image 312 is athree-dimensional medical image of the vertebral body of the patientwhich is reconstructed after the part of the patient's anatomy 110scanned by a computed tomography (CT) scan. The virtual surgicalinstrument pattern 320 is a bone screw pattern. After the preoperativepatient anatomical image 312 obtain by the CT scan, the user can planthe specification and placement of an implant device (i.e., the surgicalinstrument 210) according to the preoperative patient anatomical image312. The specification of the implant device includes the diameter andthe length of the surgical instrument 210. The placement of the implantdevice includes a correct position and a panoramic image of the surgicalinstrument 210. The specification and placement of the surgicalinstrument 210 can be stored for reading and reusing. In addition, thepreoperative implant device planning step S11 is used for verifying apanoramic image of the surgical instrument 210 (i.e., the implantdevice) and checking a relative position between the virtual surgicalinstrument pattern 320 and the preoperative patient anatomical image312. The preoperative implant device planning step S11 provides apre-planning interface displaying step, an implant trajectory patternadding step, an implant trajectory pattern adjusting step and apanoramic image verifying step. The pre-planning interface displayingstep is for displaying the preoperative patient anatomical image 312, amenu and a cursor on a screen of the displaying device 300. The implanttrajectory pattern adding step is for moving the cursor to select animplant adding item of the menu by a user and then generating thevirtual surgical instrument pattern 320 in the preoperative patientanatomical image 312, and the virtual surgical instrument pattern 320 islocated at a starting position. The implant trajectory pattern adjustingstep is for controlling the cursor to adjust a position of the virtualsurgical instrument pattern 320 and then moving the virtual surgicalinstrument pattern 320 from the starting position to a target positionin the preoperative patient anatomical image 312. The panoramic imageverifying step is for rotating the preoperative patient anatomical image312 around the virtual surgical instrument pattern 320 at a viewingangle according to the target position and the virtual surgicalinstrument pattern 320 as a central axis, and the viewing angle isgreater than 0 degrees and smaller than or equal to 180 degrees. Whenthe viewing angle is sequentially changed from 0 degrees to 180 degrees,a first semicircular region surrounding the surgical instrument 210(0-180 degrees) can be verified by the user, and a second semicircularregion surrounding the surgical instrument 210 (180-360 degrees) isreversely symmetrical to the first semicircular region surrounding thesurgical instrument 210 (0-180 degrees). Certainly, the viewing anglemay be greater than 180 degrees and smaller than or equal to 360 degreesaccording to the user's needs. In other words, the viewing angle can besequentially changed from 0 degrees to 360 degrees in order tocompletely verify panoramic images of the surgical instrument 210.Accordingly, the preoperative implant device planning step S11 of thepresent disclosure utilizes the 180-degree rotation of the preoperativepatient anatomical image 312 around the virtual surgical instrumentpattern 320 as the central axis to allow the physician to correctlyverify the relative positions of the bone screw (corresponding to thevirtual surgical instrument pattern 320) and the vertebral body(corresponding to the preoperative patient anatomical image 312),thereby adaptively correcting the planning path and positions of thesurgical instrument 210 to improve the safety and reliability beforesurgical procedures.

The image registration step S12 is for establishing a spatial coordinatetransformation relationship between the part of the patient's anatomy110 and the preoperative implant device planning image 310, and matchingthe preoperative implant device planning image 310 and the part of thepatient's anatomy 110 via the spatial coordinate transformationrelationship. In detail, the image registration step S12 is for buildingthe links between the part of the patient's anatomy 110 and thepreoperative implant device planning image 310. The image registrationstep S12 is for driving a radiographic image capturing system to capturean intraoperative patient anatomical image corresponding to the part ofthe patient's anatomy 110 and disposing a radiographic optical sensingdevice on the radiographic image capturing system. A body opticalsensing device 120 is disposed on the part of the patient's anatomy 110.In one embodiment, the radiographic image capturing system is a C-armX-ray machine, and the body optical sensing device 120 includes aplurality of reflective balls and a dynamic reference frame (DRF)connected to the reflective balls. Then, the radiographic opticalsensing device and the body optical sensing device 120 are both orientedtowards an optical tracker 400 to establish the spatial coordinatetransformation relationship between the part of the patient's anatomy110 and the preoperative implant device planning image 310. Thepreoperative patient anatomical image 312 is corresponding to theintraoperative patient anatomical image via the spatial coordinatetransformation relationship. In other words, the physician takes two ormore C-arm pictures via the C-arm X-ray machine to obtain the actualspatial coordinates of the patient during the surgical procedure. Then,the preoperative patient anatomical image 312 of the preoperativeimplant device planning image 310 is matched with the C-arm picturesthrough an image registration algorithm of the system, so that thespatial coordinate of the C-arm pictures is consistent with the spatialcoordinate of the patient.

The instrument checking step S13 is for identifying the surgicalinstrument 210, and then calibrating a size of the surgical instrument210 to display an instrument tip mark (not shown) of the surgicalinstrument 210 on the displaying device 300. In detail, an instrumentmodule 200 includes the surgical instrument 210 and an instrumentoptical sensing device 220, as shown in FIG. 2A. The surgical instrument210 is a guiding probe. The instrument optical sensing device 220includes four reflective balls and a Y-shaped dynamic reference frame.Moreover, the instrument checking step S13 includes an instrumentidentifying step S132 and an instrument calibrating step S134. Theinstrument identifying step S132 is for disposing the instrument opticalsensing device 220 on the surgical instrument 210, and the instrumentoptical sensing device 220 is oriented towards the optical tracker 400so as to identify the type and specification of the surgical instrument210 by the optical tracker 400. The instrument calibrating step S134 isfor disposing a calibrating optical sensing device 510 on thecalibrating device 500, and then engaging the surgical instrument 210with the calibrating device 500, and orienting the surgical instrument210 and the calibrating device 500 towards the optical tracker 400. Thesurgical instrument 210 of the instrument module 200 and the calibratingdevice 500 are simultaneously identified by the optical tracker 400 toestablish a spatial coordinate transformation relationship between a tipof the surgical instrument 210 and the instrument optical sensing device220. In other words, the optical tracker 400 simultaneously detects thefour reflective balls of the instrument optical sensing device 220 andthe four reflective balls of the calibrating optical sensing device 510of the calibrating device 500 to obtain a precise position of the tip ofthe surgical instrument 210 in space by the eight reflective balls ofthe instrument optical sensing device 220 and the calibrating device500. The precise position of the tip of the surgical instrument 210 ispresented on the displaying device 300, as shown in FIG. 2B.

The implant device placement selecting step S14 is for moving thesurgical instrument 210 by the user, and the instrument tip mark issynchronously moved with the surgical instrument 210 to select a virtualsurgical instrument pattern 320 in the preoperative implant deviceplanning image 310. Then, a skin incision and trajectory guiding picture330 is shown on the displaying device 300, as shown in FIG. 3A. Indetail, the implant device placement selecting step S14 is for movingthe surgical instrument 210 by the user to move the instrument tip markcorresponding to a position of the tip of the surgical instrument 210 inthe preoperative implant device planning image 310. When the instrumenttip mark is moved to a position of the virtual surgical instrumentpattern 320, the preoperative implant device planning image 310 ischanged to the skin incision and trajectory guiding picture 330 on thedisplaying device 300.

The skin incision and trajectory guiding step S15 is for moving thesurgical instrument 210 by the user according to the skin incision andtrajectory guiding picture 330 so as to move the instrument tip markclose to a planned surgical position 3362, and the planned surgicalposition 3362 is displayed in the skin incision and trajectory guidingpicture 330, as shown in FIG. 3B. The skin incision and trajectoryguiding picture 330 includes a transverse plane 332, a sagittal plane334 and a skin incision aiming image 336. The transverse plane 332 isdefined by an area between an x-axis and a z-axis. The virtual surgicalinstrument pattern 320 and the instrument tip mark 2102 are displayed ata first viewing angle in the transverse plane 332. The sagittal plane334 is defined by an area between the z-axis and a y-axis. The x-axis,the y-axis and the z-axis define a surgical site coordinate system, andthe virtual surgical instrument pattern 320 and the instrument tip mark2102 are displayed at a second viewing angle in the sagittal plane 334.The position of the virtual surgical instrument pattern 320 iscorresponding to the planned surgical position 3362. The skin incisionaiming image 336 displays the instrument tip mark 2104 and the plannedsurgical position 3362. The instrument tip mark 2102 of the transverseplane 332, the instrument tip mark 2102 of the sagittal plane 334 andthe instrument tip mark 2104 of the skin incision aiming image 336 aresimultaneously moved with the movement of the surgical instrument 210according to the surgical site coordinate system. In other words, theinstrument tip mark 2102 of the transverse plane 332, the instrument tipmark 2102 of the sagittal plane 334 and the instrument tip mark 2104 ofthe skin incision aiming image 336 are moved according to the movementof the surgical instrument 210 and respective coordinates. Additionally,in the skin incision aiming image 336 of the skin incision andtrajectory guiding picture 330, there is a distance between theinstrument tip mark 2104 and the planned surgical position 3362. Whenthe distance is greater than a first predetermined distance value, theinstrument tip mark 2104 is displayed in a first color being red. Whenthe distance is smaller than or equal to the first predetermineddistance value and greater than a second predetermined distance value,the instrument tip mark 2104 is displayed in a second color beingyellow. When the distance is smaller than or equal to the secondpredetermined distance value, the instrument tip mark 2104 is displayedin a third color being green, so that the first color, the second colorand the third color are different from each other. Furthermore, the skinincision and trajectory guiding step S15 is for moving the surgicalinstrument 210 by the user to align the instrument tip mark 2104 withthe planned surgical position 3362 in the skin incision and trajectoryguiding picture 330. When the instrument tip mark 2104 is fully alignedwith the planned surgical position 3362 for a period of time (e.g., 0.5seconds to 1 second), the skin incision and trajectory guiding picture330 is changed to a surgical instrument guiding picture 340 on thedisplaying device 300.

The surgical instrument trajectory guiding step S16 is for moving a tipand a tail of the surgical instrument 210 close to the planned surgicalposition 3362 according to the surgical instrument guiding picture 340,and then the tip and the tail of the surgical instrument 210 aresimultaneously aligned with the planned surgical position 3362, as shownin FIG. 3C. The surgical instrument guiding picture 340 includes atransverse plane 342, a sagittal plane 344 and an instrument aimingimage 346. The detail of the transverse plane 342 and the sagittal plane344 are the same as the transverse plane 332 and the sagittal plane 334of the skin incision and trajectory guiding picture 330. The instrumentaiming image 346 includes an instrument tip mark 2106, an instrumenttail mark 2108 and the planned surgical position 3362, so that thesurgical instrument guiding picture 340 displays the instrument tip mark2106, the instrument tail mark 2108 and the planned surgical position3362. The instrument tip mark 2106 is corresponding to the tip of thesurgical instrument 210 and spaced from the planned surgical position3362 by a tip distance. The instrument tail mark 2108 is correspondingto the tail of the surgical instrument 210 and spaced from the plannedsurgical position 3362 by a tail distance. When the tip distance isgreater than the first predetermined distance value, the instrument tipmark 2106 is displayed in the first color being red. When the taildistance is greater than the first predetermined distance value, theinstrument tail mark 2106 is displayed in the first color being red.When the tip distance is smaller than or equal to the firstpredetermined distance value and greater than the second predetermineddistance value, the instrument tip mark 2106 is displayed in the secondcolor being yellow. When the tail distance is smaller than or equal tothe first predetermined distance value and greater than a secondpredetermined distance value, the instrument tail mark 2108 is displayedin the second color being yellow. When the tip distance is smaller thanor equal to the second predetermined distance value, the instrument tipmark 2106 is displayed in the third color being green. When the taildistance is smaller than or equal to the second predetermined distancevalue, the instrument tail mark 2108 is displayed in the third colorbeing green. The first color, the second color and the third color aredifferent from each other. If the instrument tip mark 2106 and theinstrument tail mark 2108 are both displayed in the green color, itrepresents that the user (physician) operates the surgical instrument210 in the correct position. The first predetermined distance value andthe second predetermined distance value can be freely set by the useraccording to requirements of the surgery. Therefore, the no-touchsurgical navigation method 100 of the present disclosure uses pluralspecific steps to reduce redundant touch of the physician when thephysician controls the surgical instrument 210 during the surgicalprocedure, thus improving convenience and efficiency of use.

In FIGS. 1-3C, a no-touch surgical navigation system 102 using theno-touch surgical navigation method 100 can control the surgicalinstrument 210 to immediately move to the correct position. A bodyoptical sensing device 120 is disposed on the part of the patient'sanatomy 110. The no-touch surgical navigation system 102 includes aninstrument module 200, a displaying device 300, an optical tracker 400,a calibrating device 500 and a processing unit 700.

The instrument module 200 includes the surgical instrument 210 and theinstrument optical sensing device 220. The surgical instrument 210 ismoved by the user and connected to the instrument optical sensing device220. The surgical instrument 210 may be the guiding probe, the bonescrew or other surgical instrument according to the user's selection andrequirement.

The displaying device 300 includes a screen which displays apreoperative implant device planning image 310, a virtual surgicalinstrument pattern 320, a skin incision and trajectory guiding picture330 or a surgical instrument guiding picture 340.

The optical tracker 400 is used for tracking the part of the patient'sanatomy, the surgical instrument 210 and the calibrating device 500.When the user (e.g., a physician) controls the surgical instrument 210,the optical tracker 400 is configured to sense the instrument opticalsensing device 220, and the instrument optical sensing device 220 isoriented towards the optical tracker 400 so as to identify the surgicalinstrument 210 by the optical tracker 400 and obtain a surgicalinstrument datum corresponding to the surgical instrument 210. Thesurgical instrument datum includes the type and specification of thesurgical instrument 210. In addition, the body optical sensing device120 is also oriented towards the optical tracker 400 so as to identifythe precision position of the part of the patient's anatomy 110 and therelative position between the part of the patient's anatomy 110 and thesurgical instrument 210 by the optical tracker 400.

The calibrating device 500 is detachably connected to the surgicalinstrument 210. The calibrating device 500 has a plurality ofcalibrating holes which have different diameters. These differentdiameters range from about 2 mm to about 10.5 mm, and may becorresponding to various diameters of bone screws or guiding probes, asshown in FIG. 6D. The calibrating optical sensing device 510 is disposedon the calibrating device 500 oriented towards the optical tracker 400,thus identifying the precision position of the tip of the surgicalinstrument 210 via the optical tracker 400. Moreover, if the instrumentoptical sensing device 220, the calibrating optical sensing device 510and the body optical sensing device 120 are simultaneously orientedtowards the optical tracker 400, the relative positions of thecalibrating device 500, the surgical instrument 210 and the preoperativeimplant device planning image 310 can be obtained by the optical tracker400.

The processing unit 700 is signally connected to the displaying device300 and the optical tracker 400. The processing unit 700 may be acomputer, a cloud processor or a mobile device. The processing unit 700includes a preoperative implant device planning module 710, an imageregistration module 720, an instrument checking module 730, an implantdevice placement selecting module 740 and a trajectory guiding module750. The preoperative implant device planning module 710, the imageregistration module 720, an instrument checking module 730, an implantdevice placement selecting module 740 or a trajectory guiding module 750may be an integrated microchip or a microprocessor. Moreover, thepreoperative implant device planning module 710 is utilized to performthe preoperative implant device planning step S11. The preoperativeimplant device planning module 710 is configured to acquire thepreoperative implant device planning image 310 and visualize thepreoperative implant device planning image 310 on the screen of thedisplaying device 300. The image registration module 720 is utilized toperform the image registration step S12 and is signally connected to thepreoperative implant device planning module 710. The image registrationmodule 720 is configured to establish the spatial coordinatetransformation relationship between the part of the patient's anatomy110 and the preoperative implant device planning image 310, and matchthe preoperative implant device planning image 310 and the part of thepatient's anatomy 110 via the spatial coordinate transformationrelationship. The instrument checking module 730 is utilized to performthe instrument checking step S13 and is signally connected to the imageregistration module 720 and the screen of the displaying device 300. Theinstrument checking module 730 is configured to receive the surgicalinstrument datum and identify a position of the surgical instrument 210on the screen, and then calibrate the size of the surgical instrument todisplay the instrument tip mark of the surgical instrument 210 on thescreen. Furthermore, the implant device placement selecting module 740is utilized to perform the implant device placement selecting step S14and is signally connected to the instrument checking module 730 and theimage registration module 720. The implant device placement selectingmodule 740 is configured to select the virtual surgical instrumentpattern 320 in the preoperative implant device planning image 310 bymoving the instrument tip mark of the surgical instrument 210 so as todisplay the skin incision and trajectory guiding picture 330 on thescreen of the displaying device 300. The trajectory guiding module 750is utilized to perform the skin incision and trajectory guiding step S15and is signally connected to the instrument checking module 730 and theimplant device placement selecting module 740. The trajectory guidingmodule 750 is configured to move the instrument tip mark 2106 close tothe planned surgical position 3362 by moving the surgical instrument 210according to the skin incision and trajectory guiding picture 330 on thescreen. Hence, the no-touch surgical navigation system 102 can utilizeplural kinds of optical sensing devices combined with the opticaltracker 400 to reduce redundant touch of the physician when thephysician controls the surgical instrument 210 during the surgicalprocedure, thereby improving convenience and efficiency of use.Additionally, the no-touch surgical navigation system 102 can use theinstrument optical sensing device 220 cooperated with the calibratingdevice 500 to enhance accuracy and safety of the surgical instrument 210operated by the physician.

FIG. 4 shows a flow chart of a no-touch surgical navigation method 100 afor guiding a plurality of surgical instruments corresponding to a partof a patient's anatomy 110 according to a second embodiment of thepresent disclosure; FIG. 5A shows a schematic view of a no-touchsurgical navigation system 102 a for guiding the surgical instrumentscorresponding to the part of the patient's anatomy 110 according to thesecond embodiment of the present disclosure; FIG. 5B shows a schematicview of a first surgical instrument 210 a cooperated with a calibratingdevice 500 according to the second embodiment of the present disclosure;FIG. 5C shows a schematic view of a second surgical instrument 210 bcooperated with the calibrating device 500 according to the secondembodiment of the present disclosure; FIG. 5D shows a block diagram ofthe no-touch surgical navigation system 102 a according to the secondembodiment of the present disclosure; FIG. 6A shows a schematic view ofa preoperative implant device planning image 310 on a displaying device300 according to the second embodiment of the present disclosure; FIG.6B shows a schematic view of a skin incision and trajectory guidingpicture 330 on the displaying device 300 according to the secondembodiment of the present disclosure; FIG. 6C shows a schematic view ofa surgical instrument guiding picture 340 on the displaying device 300for guiding the first surgical instrument 210 a according to the secondembodiment of the present disclosure; FIG. 6D shows a schematic view ofthe surgical instrument guiding picture 340 on the displaying device 300for checking the second surgical instrument 210 b according to thesecond embodiment of the present disclosure; and FIG. 6E shows aschematic view of the surgical instrument guiding picture 340 on thedisplaying device 300 for guiding the second surgical instrument 210 baccording to the second embodiment of the present disclosure. Theno-touch surgical navigation method 100 a for guiding a plurality ofsurgical instruments corresponding to the part of the patient's anatomy110. The surgical instruments include the first surgical instrument 210a and the second surgical instrument 210 b. The first surgicalinstrument 210 a is a guiding probe, and the second surgical instrument210 b is a bone screw. The no-touch surgical navigation method 100 aprovides a preoperative implant device planning step S21, an imageregistration step S22, a first instrument checking step S23, an implantdevice placement selecting step S24, a skin incision and trajectoryguiding step S25, an instrument replacing step S26, a second instrumentchecking step S27 and a surgical instrument trajectory guiding step S28.

The preoperative implant device planning step S21 is for acquiring atleast one preoperative implant device planning image 310 and visualizingthe preoperative implant device planning image 310 on the displayingdevice 300. The detail of the preoperative implant device planning stepS21 is the same as the preoperative implant device planning step S11 inFIG. 1.

The image registration step S22 is for establishing a spatial coordinatetransformation relationship between the part of the patient's anatomy110 and the preoperative implant device planning image 310, and matchingthe preoperative implant device planning image 310 and the part of thepatient's anatomy 110 via the spatial coordinate transformationrelationship. The detail of the image registration step S22 is the sameas the image registration step S12 in FIG. 1.

The first instrument checking step S23 is for identifying the firstsurgical instrument 210 a, and then calibrating a size of the firstsurgical instrument 210 a to display a first instrument tip mark of thefirst surgical instrument 210 a on the displaying device 300. The firstinstrument tip mark represents a mouse cursor on a screen. The firstinstrument checking step S23 provides a first instrument identifyingstep S232 and a first instrument calibrating step S234. The firstinstrument calibrating step S232 is for disposing a first instrumentoptical sensing device 220 a on the first surgical instrument 210 a, andthe first instrument optical sensing device 220 a is oriented towards anoptical tracker 400 so as to identify the first surgical instrument 210a by the optical tracker 400, as shown in FIG. 5A. The first instrumentcalibrating step S234 is for disposing a calibrating optical sensingdevice 510 on the calibrating device 500, and then engaging the firstsurgical instrument 210 a with the calibrating device 500, and orientingthe first surgical instrument 210 a and the calibrating device 500towards the optical tracker 400. The first surgical instrument 210 a andthe calibrating device 500 are simultaneously identified by the opticaltracker 400 to establish a spatial coordinate transformationrelationship between a tip of the first surgical instrument 210 a andthe first instrument optical sensing device 220 a. The reason why thefirst instrument checking step S23 is performed in the no-touch surgicalnavigation method 100 a is that the tip of the first surgical instrument210 a may be skewed after being used for a certain period of time, andthe first instrument checking step S23 can provide preciseidentification and calibration of the first surgical instrument 210 abefore a navigation procedure. The first surgical instrument 210 a whichhas been identified and calibrated via the first instrument checkingstep S23 meets the stringent requirements of surgery and achieves therequired accuracy so as to preserve the correctness and safety ofsurgery in the navigation procedure.

The implant device placement selecting step S24 is for moving the firstsurgical instrument 210 a by the user, and the first instrument tip markis synchronously moved with the first surgical instrument 210 a toselect a virtual second surgical instrument pattern 320 a in thepreoperative implant device planning image 310. Then, a skin incisionand trajectory guiding picture 330 is shown on the displaying device300, as shown in FIG. 6A. In other words, the implant device placementselecting step S24 is for moving the first surgical instrument 210 a bythe user to move the first instrument tip mark corresponding to aposition of the tip of the first surgical instrument 210 a in thepreoperative implant device planning image 310. The first instrument tipmark represents a mouse cursor on the screen. When the first instrumenttip mark is moved to a position of the virtual second surgicalinstrument pattern 320 a, the preoperative implant device planning image310 is changed to the skin incision and trajectory guiding picture 330on the displaying device 300. In FIG. 6A, the virtual second surgicalinstrument pattern 320 a is a virtual bone screw.

The skin incision and trajectory guiding step S25 is for moving thefirst surgical instrument 210 a by the user according to the skinincision and trajectory guiding picture 330 so as to move the firstinstrument tip mark 2104 a close to a planned surgical position 3362.The planned surgical position 3362 is displayed in the skin incision andtrajectory guiding picture 330, as shown in FIG. 6B. When the firstinstrument tip mark 2104 a is aligned with the planned surgical position3362, the skin incision and trajectory guiding picture 330 is changed toa surgical instrument guiding picture 340 on the displaying device 300,as shown in FIG. 6C. In detail, when the first instrument tip mark 2104a is fully aligned with the planned surgical position 3362 for a periodof time, the skin incision and trajectory guiding picture 330 is changedto a surgical instrument guiding picture 340 on the displaying device300. Additionally, the skin incision and trajectory guiding picture 330includes a transverse plane 332, a sagittal plane 334 and a skinincision aiming image 336. The transverse plane 332 is defined by anarea between an x-axis and a z-axis. The virtual second surgicalinstrument pattern 320 a and the first instrument tip mark 2102 a aredisplayed at a first viewing angle in the transverse plane 332. Thesagittal plane 334 is defined by an area between the z-axis and ay-axis. The x-axis, the y-axis and the z-axis define a surgical sitecoordinate system, and the virtual second surgical instrument pattern320 a and the first instrument tip mark 2102 a are displayed at a secondviewing angle in the sagittal plane 334. The skin incision aiming image336 displays the first instrument tip mark 2104 a and the plannedsurgical position 3362. The first instrument tip mark 2102 a of thetransverse plane 332, the first instrument tip mark 2102 a of thesagittal plane 334 and the first instrument tip mark 2104 a of the skinincision aiming image 336 are simultaneously moved with the movement ofthe first surgical instrument 210 a according to the surgical sitecoordinate system, so that it is convenient and expeditious for thephysician to know the relative position of the first surgical instrument210 a (i.e., the first instrument tip mark 2104 a) and a target position(i.e., the planned surgical position 3362) in the space. Moreover, inthe skin incision and trajectory guiding picture 330, there is adistance between the first instrument tip mark 2104 a and the plannedsurgical position 3362. When the distance is greater than a firstpredetermined distance value, the first instrument tip mark 2104 a isdisplayed in a first color being red. When the distance is smaller thanor equal to the first predetermined distance value and greater than asecond predetermined distance value, the first instrument tip mark 2104a is displayed in a second color being yellow. When the distance issmaller than or equal to the second predetermined distance value, thefirst instrument tip mark 2104 a is displayed in a third color beinggreen. The size of the distance affects the color of the firstinstrument tip mark 2104 a. In other words, the physician canimmediately know the distance via the color of the first instrument tipmark 2104 a. The red color represents that the distance is greater thanthe first predetermined distance value. The yellow color represents thatthe distance is smaller than or equal to the first predetermineddistance value and greater than the second predetermined distance value.The green color represents that the distance is smaller than or equal tothe second predetermined distance value. In FIG. 6C, the surgicalinstrument guiding picture 340 displays a first instrument tip mark 2106a, a first instrument tail mark 2108 a and the planned surgical position3362. The first instrument tip mark 2106 a is corresponding to the tipof the first surgical instrument 210 a. The first instrument tail mark2108 a is corresponding to the tail of the first surgical instrument 210a. The first instrument tip mark 2106 a is spaced from the plannedsurgical position 3362 by a tip distance, and the first instrument tailmark 2108 a is spaced from the planned surgical position 3362 by a taildistance. Accordingly, the skin incision and trajectory guiding step S25of the present disclosure uses the double marks combined with changeablecolors to enable the physician to quickly and accurately move the firstsurgical instrument 210 a to the target position, thereby substantiallyreducing operating time and improving the safety of surgery.

The instrument replacing step S26 is for replacing the first surgicalinstrument 210 a (i.e., the guiding probe) with the second surgicalinstrument 210 b (i.e., the bone screw) by the user according to thevirtual second surgical instrument pattern 320 a of the implant deviceplacement selecting step S24. The virtual second surgical instrumentpattern 320 a is corresponding to the second surgical instrument 210 b.After the instrument replacing step S26, the first instrument tip mark2106 a and the first instrument tail mark 2108 a of the surgicalinstrument guiding picture 340 are replaced with a second instrument tipmark 2106 b and a second instrument tail mark 2108 b, respectively, asshown in FIGS. 6C and 6E.

The second instrument checking step S27 is for identifying the secondsurgical instrument 210 b, and then calibrating a size of the secondsurgical instrument 210 b to display a second instrument tip mark 2106 bof the second surgical instrument 210 b on the displaying device300, asshown in FIG. 6D. In detail, the second instrument checking step S27provides a second instrument identifying step S272 and a secondinstrument calibrating step S274. The second instrument identifying stepS272 is for disposing a second instrument optical sensing device 220 bon the second surgical instrument 210 b, and the second instrumentoptical sensing device 220 b is oriented towards the optical tracker 400so as to identify the second surgical instrument 210 b by the opticaltracker 400. Furthermore, the second instrument identifying step S272 isfor disposing a radio frequency identification tag 620 (RFID tag) on thesecond surgical instrument 210 b and driving a wireless signal receiver610 (RFID reader) to sense the radio frequency identification tag 620 soas to identify the second surgical instrument 210 b by the wirelesssignal receiver 610, as shown in FIG. 6D. In addition, the secondinstrument calibrating step S274 is for disposing the calibratingoptical sensing device 510 on the calibrating device 500, and thenengaging the second surgical instrument 210 b with the calibratingdevice 500. After that, the second instrument calibrating step S274 isfor orienting the second surgical instrument 210 b and the calibratingdevice 500 towards the optical tracker 400. When the second surgicalinstrument 210 b is engaged with the calibrating device 500, thephysician corresponds the second surgical instrument 210 b to one ofplural holes of the calibrating device 500 having a most appropriatediameter. The most appropriate diameter is equal to or greater than thediameter of the second surgical instrument 210 b, as shown in FIG. 6D(“Select diameter”). Finally, the second surgical instrument 210 b andthe calibrating device 500 are simultaneously identified by the opticaltracker 400 to establish a spatial coordinate transformationrelationship between a tip of the second surgical instrument 210 b andthe second instrument optical sensing device 220 b. The precise lengthof the second surgical instrument 210 b can be also obtain, as shown inFIG. 6D (“Screw length”).

The surgical instrument trajectory guiding step S28 is for moving thesecond surgical instrument 210 b close to the planned surgical position3362 according to the surgical instrument guiding picture 340, as shownin FIG. 6E. In detail, the surgical instrument trajectory guiding stepS28 is for moving the second surgical instrument 210 b to fully alignthe second instrument tip mark 2106 b and a second instrument tail mark2108 b with the planned surgical position 3362 according to the surgicalinstrument guiding picture 340. The second instrument tip mark 2106 b iscorresponding to a tip of the second surgical instrument 210 b, and thesecond instrument tail mark 2108 b is corresponding to a tail of thesecond surgical instrument 210 b. The surgical instrument guidingpicture 340 displays the second instrument tip mark 2106 b, the secondinstrument tail mark 2108 b and the planned surgical position 3362. Thesecond instrument tip mark 2106 b is spaced from the planned surgicalposition 3362 by a tip distance, and the second instrument tail mark2108 b is spaced from the planned surgical position 3362 by a taildistance. When the tip distance is greater than the first predetermineddistance value, the second instrument tip mark 2106 b is displayed inthe red color. When the tail distance is greater than the firstpredetermined distance value, the second instrument tail mark 2108 b isdisplayed in the red color. When the tip distance is smaller than orequal to the first predetermined distance value and greater than thesecond predetermined distance value, the second instrument tip mark 2106b is displayed in the yellow color. When the tail distance is smallerthan or equal to the first predetermined distance value and greater thanthe second predetermined distance value, the second instrument tail mark2108 b is displayed in the yellow color. When the tip distance issmaller than or equal to the second predetermined distance value, thesecond instrument tip mark 2106 b is displayed in the green color. Whenthe tail distance is smaller than or equal to the second predetermineddistance value, the second instrument tail mark 2108 b is displayed inthe green color. It is obvious that the red color, the yellow color andthe green color are different from each other. If the physician cancontrol the second surgical instrument 210 b to maintain the green colorin the second instrument tip mark 2106 b and the second instrument tailmark 2108 b, it represents that the second surgical instrument 210 isoperated in the correct and ideal position, thus satisfying thepreoperative planning path and condition.

In FIGS. 2C, 5A, 5B, 5C and 5D, the no-touch surgical navigation system102 a is used for guiding the first surgical instrument 210 a and thesecond surgical instrument 210 b relative to the part of the patient'sanatomy 110 by the no-touch surgical navigation method 100 a. A bodyoptical sensing device 120 is disposed on the part of the patient'sanatomy 110. The no-touch surgical navigation system 102 a includes afirst instrument module 200 a, a second instrument module 200 b, adisplaying device 300, an optical tracker 400, a calibrating device 500,a wireless signal receiver 610, a radio frequency identification tag 620and a processing unit 700.

In FIG. 5D, the detail of the displaying device 300, the optical tracker400, the calibrating device 500 and the processing unit 700 are the sameas the embodiment of FIG. 2C. In FIG. 5D, the no-touch surgicalnavigation system 102 a further includes the first instrument module 200a, the second instrument module 200 b, the wireless signal receiver 610and the radio frequency identification tag 620. The first instrumentmodule 200 a includes a first surgical instrument 210 a and a firstinstrument optical sensing device 220 a. The second instrument module200 b includes a second surgical instrument 210 b, a second instrumentoptical sensing device 220 b, an instrument assembly 230 b and a grip240 b. In FIG. 5A, the first surgical instrument 210 a is a guidingprobe, and the second surgical instrument 210 b is a bone screw. Theinstrument assembly 230 b is a bone screw assembly corresponding to thesecond surgical instrument 210 b. The instrument assembly 230 b isconnected between the second surgical instrument 210 b and the grip 240b. Moreover, the wireless signal receiver 610 is disposed adjacent tothe optical tracker 400 and used for detecting the radio frequencyidentification tag 620. The radio frequency identification tag 620 isdisposed on the instrument assembly 230 b and carries information of thecorresponding type and specification of the second surgical instrument210 b. When the radio frequency identification tag 620 is aligned withthe optical tracker 400 within a certain distance range, the wirelesssignal receiver 610 can identify the corresponding type andspecification of the second surgical instrument 210 b. Accordingly, theno-touch surgical navigation system 102 a and the no-touch surgicalnavigation method 100 a are used to freely replace the suitable surgicalinstrument under a no-touch condition according to surgicalrequirements, thereby improving convenience and efficiency andmaintaining a high degree of accuracy and safety. The no-touch conditionrepresents that the user does not touch the screen or control panels toadjust the parameters (e.g., the types and specifications of thesurgical instruments) of the no-touch surgical navigation system 102 a,so that the surgical instruments can automatically identified andcalibrated by the no-touch surgical navigation method 100 a during thesurgical procedure. The no-touch surgical navigation system 102 a andthe no-touch surgical navigation method 100 a are suitable for use insurgery to solve the problems of the conventional navigation system andmethod that require the user to additionally touch the screen or controlpanels to adjust the parameters during the surgical procedure.

According to the aforementioned embodiments and examples, the advantagesof the present disclosure are described as follows.

1. The no-touch surgical navigation method and the no-touch surgicalnavigation system thereof of the present disclosure can utilize pluralkinds of optical sensing devices combined with the optical tracker toreduce redundant touch of the physician when the physician controls thesurgical instruments during the surgical procedure, thereby improvingconvenience and efficiency of use.

2. The no-touch surgical navigation method and the no-touch surgicalnavigation system thereof of the present disclosure can use the doublemarks combined with changeable colors to enable the physician to quicklyand accurately move the surgical instrument to the target position,thereby substantially reducing operating time and improving the safetyof surgery.

3. The no-touch surgical navigation system and the no-touch surgicalnavigation system thereof of the present disclosure can use theinstrument optical sensing device cooperated with the calibrating deviceto enhance accuracy and safety of the surgical instrument operated bythe physician.

Although the present disclosure has been described in considerabledetail with reference to certain embodiments thereof, other embodimentsare possible. Therefore, the spirit and scope of the appended claimsshould not be limited to the description of the embodiments containedherein.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the structure of the presentdisclosure without departing from the scope or spirit of the disclosure.In view of the foregoing, it is intended that the present disclosurecover modifications and variations of this disclosure provided they fallwithin the scope of the following claims.

What is claimed is:
 1. A no-touch surgical navigation method for guidinga surgical instrument corresponding to a part of a patient's anatomy,the no-touch surgical navigation method comprising: providing apreoperative implant device planning step, wherein the preoperativeimplant device planning step is for acquiring at least one preoperativeimplant device planning image and visualizing the preoperative implantdevice planning image on a displaying device; providing an imageregistration step, wherein the image registration step is forestablishing a spatial coordinate transformation relationship betweenthe part of the patient's anatomy and the preoperative implant deviceplanning image, and matching the preoperative implant device planningimage and the part of the patient's anatomy via the spatial coordinatetransformation relationship; providing an instrument checking step,wherein the instrument checking step is for identifying the surgicalinstrument, and then calibrating a size of the surgical instrument todisplay an instrument tip mark of the surgical instrument on thedisplaying device; providing an implant device placement selecting step,wherein the implant device placement selecting step is for moving thesurgical instrument by a user, and the instrument tip mark issynchronously moved with the surgical instrument to select a virtualsurgical instrument pattern in the preoperative implant device planningimage, and then a skin incision and trajectory guiding picture is shownon the displaying device; and providing a skin incision and trajectoryguiding step, wherein the skin incision and trajectory guiding step isfor moving the surgical instrument by the user according to the skinincision and trajectory guiding picture so as to move the instrument tipmark close to a planned surgical position, and the planned surgicalposition is displayed in the skin incision and trajectory guidingpicture.
 2. The no-touch surgical navigation method of claim 1, wherein,the preoperative implant device planning image includes a preoperativepatient anatomical image; and the image registration step is for drivinga radiographic image capturing system to capture an intraoperativepatient anatomical image corresponding to the part of the patient'sanatomy and disposing a radiographic optical sensing device on theradiographic image capturing system, a body optical sensing device isdisposed on the part of the patient's anatomy, the radiographic opticalsensing device and the body optical sensing device are both orientedtowards an optical tracker to establish the spatial coordinatetransformation relationship between the part of the patient's anatomyand the preoperative implant device planning image, the preoperativepatient anatomical image is corresponding to the intraoperative patientanatomical image via the spatial coordinate transformation relationship.3. The no-touch surgical navigation method of claim 1, wherein theinstrument checking step comprising: providing an instrument identifyingstep, wherein the instrument identifying step is for disposing aninstrument optical sensing device on the surgical instrument, and theinstrument optical sensing device is oriented towards an optical trackerso as to identify the surgical instrument by the optical tracker.
 4. Theno-touch surgical navigation method of claim 3, wherein, the instrumentidentifying step is for disposing a radio frequency identification tagon the surgical instrument and driving a wireless signal receiver tosense the radio frequency identification tag so as to identify thesurgical instrument by the wireless signal receiver.
 5. The no-touchsurgical navigation method of claim 3, wherein the instrument checkingstep further comprising: providing an instrument calibrating step,wherein the instrument calibrating step is for disposing a calibratingoptical sensing device on a calibrating device, and then engaging thesurgical instrument with the calibrating device, and orienting thesurgical instrument and the calibrating device towards the opticaltracker, the surgical instrument and the calibrating device aresimultaneously identified by the optical tracker to establish a spatialcoordinate transformation relationship between a tip of the surgicalinstrument and the instrument optical sensing device.
 6. The no-touchsurgical navigation method of claim 5, wherein, the implant deviceplacement selecting step is for moving the surgical instrument by theuser to move the instrument tip mark corresponding to a position of thetip of the surgical instrument in the preoperative implant deviceplanning image, and when the instrument tip mark is moved to a positionof the virtual surgical instrument pattern, the preoperative implantdevice planning image is changed to the skin incision and trajectoryguiding picture on the displaying device.
 7. The no-touch surgicalnavigation method of claim 1, wherein the skin incision and trajectoryguiding picture comprises: a transverse plane defined by an area betweenan x-axis and a z-axis, wherein the virtual surgical instrument patternand the instrument tip mark are displayed at a first viewing angle inthe transverse plane; a sagittal plane defined by an area between thez-axis and a y-axis, wherein the x-axis, the y-axis and the z-axisdefine a surgical site coordinate system, and the virtual surgicalinstrument pattern and the instrument tip mark are displayed at a secondviewing angle in the sagittal plane; and a skin incision aiming imagedisplaying the instrument tip mark and the planned surgical position;wherein the instrument tip mark of the transverse plane, the instrumenttip mark of the sagittal plane and the instrument tip mark of the skinincision aiming image are simultaneously moved with movement of thesurgical instrument according to the surgical site coordinate system. 8.The no-touch surgical navigation method of claim 1, wherein, in the skinincision and trajectory guiding picture, there is a distance between theinstrument tip mark and the planned surgical position; wherein when thedistance is greater than a first predetermined distance value, theinstrument tip mark is displayed in a first color; wherein when thedistance is smaller than or equal to the first predetermined distancevalue and greater than a second predetermined distance value, theinstrument tip mark is displayed in a second color; wherein when thedistance is smaller than or equal to the second predetermined distancevalue, the instrument tip mark is displayed in a third color, and thefirst color, the second color and the third color are different fromeach other.
 9. The no-touch surgical navigation method of claim 1,wherein, the skin incision and trajectory guiding step is for moving thesurgical instrument by the user to align the instrument tip mark withthe planned surgical position in the skin incision and trajectoryguiding picture, and when the instrument tip mark is fully aligned withthe planned surgical position for a period of time, the skin incisionand trajectory guiding picture is changed to a surgical instrumentguiding picture on the displaying device.
 10. The no-touch surgicalnavigation method of claim 9, further comprising: providing a surgicalinstrument trajectory guiding step, wherein the surgical instrumenttrajectory guiding step is for moving a tip and a tail of the surgicalinstrument close to the planned surgical position according to thesurgical instrument guiding picture, and then the tip and the tail ofthe surgical instrument are simultaneously aligned with the plannedsurgical position.
 11. The no-touch surgical navigation method of claim10, wherein, the surgical instrument guiding picture displays theinstrument tip mark, an instrument tail mark and the planned surgicalposition, the instrument tail mark is corresponding to the tail of thesurgical instrument, the instrument tip mark is spaced from the plannedsurgical position by a tip distance, and the instrument tail mark isspaced from the planned surgical position by a tail distance; whereinwhen the tip distance is greater than a first predetermined distancevalue, the instrument tip mark is displayed in a first color; whereinwhen the tail distance is greater than the first predetermined distancevalue, the instrument tail mark is displayed in the first color; whereinwhen the tip distance is smaller than or equal to the firstpredetermined distance value and greater than a second predetermineddistance value, the instrument tip mark is displayed in a second color;wherein when the tail distance is smaller than or equal to the firstpredetermined distance value and greater than a second predetermineddistance value, the instrument tail mark is displayed in the secondcolor; wherein when the tip distance is smaller than or equal to thesecond predetermined distance value, the instrument tip mark isdisplayed in a third color; wherein when the tail distance is smallerthan or equal to the second predetermined distance value, the instrumenttail mark is displayed in the third color, and the first color, thesecond color and the third color are different from each other.
 12. Ano-touch surgical navigation method for guiding a plurality of surgicalinstruments corresponding to a part of the patient's anatomy, thesurgical instruments comprising a first surgical instrument and a secondsurgical instrument, the no-touch surgical navigation method comprising:providing a preoperative implant device planning step, wherein thepreoperative implant device planning step is for acquiring at least onepreoperative implant device planning image and visualizing thepreoperative implant device planning image on a displaying device;providing an image registration step, wherein the image registrationstep is for establishing a spatial coordinate transformationrelationship between the part of the patient's anatomy and thepreoperative implant device planning image, and matching thepreoperative implant device planning image and the part of the patient'sanatomy via the spatial coordinate transformation relationship;providing a first instrument checking step, wherein the first instrumentchecking step is for identifying the first surgical instrument, and thencalibrating a size of the first surgical instrument to display a firstinstrument tip mark of the first surgical instrument on the displayingdevice; providing an implant device placement selecting step, whereinthe implant device placement selecting step is for moving the firstsurgical instrument by a user, and the first instrument tip mark issynchronously moved with the first surgical instrument to select avirtual second surgical instrument pattern in the preoperative implantdevice planning image, and then a skin incision and trajectory guidingpicture is shown on the displaying device; providing a skin incision andtrajectory guiding step, wherein the skin incision and trajectoryguiding step is for moving the first surgical instrument by the useraccording to the skin incision and trajectory guiding picture so as tomove the first instrument tip mark close to a planned surgical position,the planned surgical position is displayed in the skin incision andtrajectory guiding picture, and when the first instrument tip mark isaligned with the planned surgical position, the skin incision andtrajectory guiding picture is changed to a surgical instrument guidingpicture on the displaying device; providing an instrument replacingstep, wherein the instrument replacing step is for replacing the firstsurgical instrument with the second surgical instrument by the user;providing a second instrument checking step, wherein the secondinstrument checking step is for identifying the second surgicalinstrument, and then calibrating a size of the second surgicalinstrument to display a second instrument tip mark of the secondsurgical instrument on the displaying device; and providing a surgicalinstrument trajectory guiding step, wherein the surgical instrumenttrajectory guiding step is for moving the second surgical instrumentclose to the planned surgical position according to the surgicalinstrument guiding picture.
 13. The no-touch surgical navigation methodof claim 12, wherein, the preoperative implant device planning imageincludes a preoperative patient anatomical image; and the imageregistration step is for driving a radiographic image capturing systemto capture an intraoperative patient anatomical image corresponding tothe part of the patient's anatomy and disposing a radiographic opticalsensing device on the radiographic image capturing system, a bodyoptical sensing device is disposed on the part of the patient's anatomy,the radiographic optical sensing device and the body optical sensingdevice are both oriented towards an optical tracker to establish thespatial coordinate transformation relationship between the part of thepatient's anatomy and the preoperative implant device planning image,the preoperative patient anatomical image is corresponding to theintraoperative patient anatomical image via the spatial coordinatetransformation relationship.
 14. The no-touch surgical navigation methodof claim 12, wherein the first instrument checking step comprising:providing a first instrument identifying step, wherein the firstinstrument identifying step is for disposing a first instrument opticalsensing device on the first surgical instrument, and the firstinstrument optical sensing device is oriented towards an optical trackerso as to identify the first surgical instrument by the optical tracker.15. The no-touch surgical navigation method of claim 14, wherein thefirst instrument checking step further comprising: providing a firstinstrument calibrating step, wherein the first instrument calibratingstep is for disposing a calibrating optical sensing device on acalibrating device, and then engaging the first surgical instrument withthe calibrating device, and orienting the first surgical instrument andthe calibrating device towards the optical tracker, the first surgicalinstrument and the calibrating device are simultaneously identified bythe optical tracker to establish a spatial coordinate transformationrelationship between a tip of the first surgical instrument and thefirst instrument optical sensing device.
 16. The no-touch surgicalnavigation method of claim 15, wherein, the implant device placementselecting step is for moving the first surgical instrument by the userto move the first instrument tip mark corresponding to a position of thetip of the first surgical instrument in the preoperative implant deviceplanning image, and when the first instrument tip mark is moved to aposition of the virtual second surgical instrument pattern, thepreoperative implant device planning image is changed to the skinincision and trajectory guiding picture on the displaying device. 17.The no-touch surgical navigation method of claim 12, wherein the skinincision and trajectory guiding picture comprises: a transverse planedefined by an area between an x-axis and a z-axis, wherein the virtualsecond surgical instrument pattern and the first instrument tip mark aredisplayed at a first viewing angle in the transverse plane; a sagittalplane defined by an area between the z-axis and a y-axis, wherein thex-axis, the y-axis and the z-axis define a surgical site coordinatesystem, and the virtual second surgical instrument pattern and the firstinstrument tip mark are displayed at a second viewing angle in thesagittal plane; and a skin incision aiming image displaying the firstinstrument tip mark and the planned surgical position; wherein the firstinstrument tip mark of the transverse plane, the first instrument tipmark of the sagittal plane and the first instrument tip mark of the skinincision aiming image are simultaneously moved with movement of thefirst surgical instrument according to the surgical site coordinatesystem.
 18. The no-touch surgical navigation method of claim 12,wherein, in the skin incision and trajectory guiding picture, there is adistance between the first instrument tip mark and the planned surgicalposition; wherein when the distance is greater than a firstpredetermined distance value, the first instrument tip mark is displayedin a first color; wherein when the distance is smaller than or equal tothe first predetermined distance value and greater than a secondpredetermined distance value, the first instrument tip mark is displayedin a second color; wherein when the distance is smaller than or equal tothe second predetermined distance value, the first instrument tip markis displayed in a third color, and the first color, the second color andthe third color are different from each other.
 19. The no-touch surgicalnavigation method of claim 1, wherein, the skin incision and trajectoryguiding step is for moving the first surgical instrument by the user toalign the first instrument tip mark with the planned surgical positionin the skin incision and trajectory guiding picture, and when the firstinstrument tip mark is fully aligned with the planned surgical positionfor a period of time, the skin incision and trajectory guiding pictureis changed to a surgical instrument guiding picture on the displayingdevice.
 20. The no-touch surgical navigation method of claim 12, whereinthe second instrument checking step comprising: providing a secondinstrument identifying step, wherein the second instrument identifyingstep is for disposing a second instrument optical sensing device on thesecond surgical instrument, and the second instrument optical sensingdevice is oriented towards an optical tracker so as to identify thesecond surgical instrument by the optical tracker.
 21. The no-touchsurgical navigation method of claim 20, wherein, the second instrumentidentifying step is for disposing a radio frequency identification tagon the second surgical instrument and driving a wireless signal receiverto sense the radio frequency identification tag so as to identify thesecond surgical instrument by the wireless signal receiver.
 22. Theno-touch surgical navigation method of claim 20, wherein the secondinstrument checking step further comprising: providing a secondinstrument calibrating step, wherein the second instrument calibratingstep is for disposing a calibrating optical sensing device on acalibrating device, and then engaging the second surgical instrumentwith the calibrating device, and orienting the second surgicalinstrument and the calibrating device towards the optical tracker, thesecond surgical instrument and the calibrating device are simultaneouslyidentified by the optical tracker to establish a spatial coordinatetransformation relationship between a tip of the second surgicalinstrument and the second instrument optical sensing device.
 23. Theno-touch surgical navigation method of claim 12, wherein, the surgicalinstrument guiding picture displays the second instrument tip mark, asecond instrument tail mark and the planned surgical position, thesecond instrument tail mark is corresponding to a tail of the secondsurgical instrument, the second instrument tip mark is spaced from theplanned surgical position by a tip distance, and the second instrumenttail mark is spaced from the planned surgical position by a taildistance; wherein when the tip distance is greater than a firstpredetermined distance value, the second instrument tip mark isdisplayed in a first color; wherein when the tail distance is greaterthan the first predetermined distance value, the second instrument tailmark is displayed in the first color; wherein when the tip distance issmaller than or equal to the first predetermined distance value andgreater than a second predetermined distance value, the secondinstrument tip mark is displayed in a second color; wherein when thetail distance is smaller than or equal to the first predetermineddistance value and greater than the second predetermined distance value,the second instrument tail mark is displayed in the second color;wherein when the tip distance is smaller than or equal to the secondpredetermined distance value, the second instrument tip mark isdisplayed in a third color; wherein when the tail distance is smallerthan or equal to the second predetermined distance value, the secondinstrument tail mark is displayed in the third color, and the firstcolor, the second color and the third color are different from eachother.
 24. The no-touch surgical navigation method of claim 12, wherein,the surgical instrument trajectory guiding step is for moving the secondsurgical instrument to fully align the second instrument tip mark and asecond instrument tail mark with the planned surgical position accordingto the surgical instrument guiding picture, the second instrument tipmark is corresponding to a tip of the second surgical instrument, andthe second instrument tail mark is corresponding to a tail of the secondsurgical instrument.
 25. A no-touch surgical navigation system using theno-touch surgical navigation method of claim 1, comprising: the surgicalinstrument moved by the user and connected to an instrument opticalsensing device; the displaying device comprising a screen which displaysthe preoperative implant device planning image, the skin incision andtrajectory guiding picture or a surgical instrument guiding picture; anoptical tracker configured to sense the instrument optical sensingdevice, wherein the instrument optical sensing device is orientedtowards the optical tracker so as to identify the surgical instrument bythe optical tracker and obtain a surgical instrument datum correspondingto the surgical instrument; and a processing unit signally connected tothe displaying device and the optical tracker, and the processing unitcomprising: a preoperative implant device planning module configured toacquire the preoperative implant device planning image and visualize thepreoperative implant device planning image on the screen; an imageregistration module signally connected to the preoperative implantdevice planning module, wherein the image registration module isconfigured to establish the spatial coordinate transformationrelationship between the part of the patient's anatomy and thepreoperative implant device planning image, and match the preoperativeimplant device planning image and the part of the patient's anatomy viathe spatial coordinate transformation relationship; an instrumentchecking module signally connected to the image registration module andthe screen, wherein the instrument checking module is configured toreceive the surgical instrument datum and identify a position of thesurgical instrument on the screen, and then calibrate the size of thesurgical instrument to display the instrument tip mark of the surgicalinstrument on the screen; an implant device placement selecting modulesignally connected to the instrument checking module and the imageregistration module, wherein the implant device placement selectingmodule is configured to select a virtual surgical instrument pattern inthe preoperative implant device planning image by moving the instrumenttip mark of the surgical instrument so as to display the skin incisionand trajectory guiding picture on the screen; and a trajectory guidingmodule signally connected to the instrument checking module and theimplant device placement selecting module, wherein the trajectoryguiding module is configured to move the instrument tip mark close to aplanned surgical position by moving the surgical instrument according tothe skin incision and trajectory guiding picture on the screen.
 26. Theno-touch surgical navigation system of claim 25, further comprising: acalibrating device detachably connected to the surgical instrument; anda calibrating optical sensing device disposed on the calibrating deviceoriented towards the optical tracker; wherein the instrument opticalsensing device and the calibrating optical sensing device are orientedtowards the optical tracker so as to obtain relative positions of thecalibrating device, the surgical instrument and the preoperative implantdevice planning image by the optical tracker.